CN210344843U - Rotary cloud platform mechanism and inspection robot with same - Google Patents
Rotary cloud platform mechanism and inspection robot with same Download PDFInfo
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- CN210344843U CN210344843U CN201921468956.9U CN201921468956U CN210344843U CN 210344843 U CN210344843 U CN 210344843U CN 201921468956 U CN201921468956 U CN 201921468956U CN 210344843 U CN210344843 U CN 210344843U
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Abstract
The utility model discloses a rotary cloud platform mechanism and an inspection robot with the same, wherein the rotary cloud platform mechanism comprises a fixed chassis, a rotary chassis positioned on the fixed chassis, a rotary shaft assembly, a driving assembly arranged on the rotary chassis and used for driving the rotary shaft assembly, a bracket assembly arranged on the rotary chassis, and a high-definition camera and an infrared imager which are arranged on the bracket assembly; the rotary shaft assembly comprises a rotary shaft, a driving belt wheel and a driven belt wheel, one end of the rotary shaft penetrates through a center hole of the rotary chassis to be connected with the fixed chassis, the driven belt wheel is installed at the other end of the rotary shaft, the driving belt wheel is fixedly arranged on the rotary chassis, and synchronization is connected between the driving belt wheel and the driven belt wheel.
Description
Technical Field
The utility model relates to an inspection technical field, concretely relates to gyration cloud platform mechanism and have robot of patrolling and examining of gyration cloud platform mechanism.
Background
At present, inspection robots are used for replacing manual work to perform inspection work on special, dangerous and narrow occasions such as underground pipe galleries, overground transformer substations and the like. Install high definition camera and infrared imager in the cloud platform, be equivalent to the eyes of patrolling and examining the robot. The finished product cloud deck in the current market is expensive and large in size, the inspection robot needs to be designed according to the size of the cloud deck, the limitation is large, and when the cloud deck with a large size is used for inspection in a narrow space, the full coverage of an inspection place cannot be realized; secondly, to patrolling and examining the place under the different environment, have different requirements to high definition camera and infrared imaging appearance, this just requires the cloud platform to have general type, and current cloud platform can't realize the quick replacement of different specification models high definition camera and infrared imaging appearance.
SUMMERY OF THE UTILITY MODEL
In order to solve the poor, the limitation of current cloud platform commonality big, cloud platform high definition camera and infrared imager exchange commonality and poor stability's problem, the utility model provides a gyration cloud platform mechanism and have the robot of patrolling and examining of gyration cloud platform mechanism.
The utility model adopts the technical proposal that:
a rotary pan-tilt mechanism comprises a fixed chassis, a rotary chassis positioned on the fixed chassis, a rotary shaft assembly, a driving assembly arranged on the rotary chassis and used for driving the rotary shaft assembly, a support assembly arranged on the rotary chassis, and a high-definition camera and an infrared imager which are arranged on the support assembly;
the rotary shaft assembly comprises a rotary shaft, a driving belt wheel and a driven belt wheel, one end of the rotary shaft penetrates through a center hole of the rotary chassis to be connected with the fixed chassis, the driven belt wheel is installed at the other end of the rotary shaft, the driving belt wheel is fixedly arranged on the rotary chassis, and a synchronous belt is connected between the driving belt wheel and the driven belt wheel.
Furthermore, the rotary chassis is connected with the rotary shaft through two deep groove ball bearings.
Further, the rotating shaft assembly further comprises a sliding ring, the sliding ring is arranged in the rotating shaft, and one end of the sliding ring penetrates through and extends out of the fixed chassis.
Further, the support subassembly is including the support I that is used for supporting infrared imaging appearance, the support II that is used for supporting high definition camera and the support III that is used for supporting drive assembly, install infrared imaging appearance on the support I, support II sets up on support I, install high definition camera on the support II.
Furthermore, the driving assembly comprises a motor and a speed reducer which are installed on the support III, an output shaft of the motor is connected with the speed reducer, and an output shaft of the speed reducer is connected with the driving belt wheel.
Furthermore, the driven belt wheel is connected with the rotating shaft through a flat key.
Furthermore, a locking nut is installed at the upper end of the driven belt wheel.
The photoelectric switch is arranged on the support I, and the photoelectric switch blocking piece is arranged on the rotating shaft.
The utility model provides a robot patrols and examines, should patrol and examine the robot includes the robot and sets up as above on the robot gyration cloud platform mechanism.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) the novel rotary tripod head mechanism can solve the problems of poor universality and large limitation of a finished tripod head and the problems of poor interchange universality and poor stability of a tripod head high-definition camera and an infrared imager;
(2) this implement neotype gyration cloud platform mechanism can realize 360 rotations, realizes patrolling and examining the accurate positioning of target and patrolling and examining the place full coverages.
Drawings
Fig. 1 is a perspective view of a rotary head mechanism according to an embodiment of the present invention;
fig. 2 is a side sectional view of a rotary head mechanism according to an embodiment of the present invention;
fig. 3 is a main sectional view of the rotary head mechanism according to the embodiment of the present invention;
the device comprises a sliding ring 1, a sliding ring 2, a rotating shaft 3, a rotating chassis 4, a fixed chassis 5, a deep groove ball bearing 6, a driven belt wheel 7, a synchronous belt 8, a locking nut 9, a bracket assembly 10, an infrared imager 11, a high-definition camera 12, a motor 13, a speed reducer 14, a driving belt wheel 15, a photoelectric switch 16, a photoelectric switch separation blade 17, a flat key 18, a bracket I, a bracket 19, a bracket II, a bracket 20 and a bracket III.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, the terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, and are only the terms determined for convenience of describing the structural relationship of each component or element of the present invention, and are not specific to any component or element of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and may be fixedly connected, or may be integrally connected or detachably connected; may be directly connected or indirectly connected through an intermediate. The meaning of the above terms in the present invention can be determined according to specific situations by persons skilled in the art, and should not be construed as limiting the present invention.
Example one
As shown in fig. 1-3, the utility model provides a gyration cloud platform mechanism, this gyration cloud platform mechanism includes fixed chassis 4, revolving axle subassembly, gyration chassis 3, high definition camera 11, infrared imager 10, bracket component 9 and drive assembly.
Specifically, the fixed chassis 4 is fixedly connected with the robot body, the rotary chassis 3 is positioned above the fixed chassis 4, the rotary shaft assembly comprises a rotary shaft 2, deep groove ball bearings 5, a sliding ring 1, a driving pulley 14 and a driven pulley 6, one end of the rotary shaft 2 penetrates through a center hole of the rotary chassis 3 to be connected with the fixed chassis 4, and the middle part of the rotary chassis 3 is connected with the rotary shaft 2 through the two deep groove ball bearings 5; the other end of the rotating shaft 2 is provided with a driven belt pulley 6, the driving belt pulley 14 is fixedly arranged on the rotating chassis 3, the driving belt pulley 14 and the driven belt pulley 6 are connected through a synchronous belt 7, and when the motor reducer rotates, the rotating shaft is fixed, so that the motor reducer drives the rotating chassis to revolve around the rotating shaft while the motor reducer is self-driven during working; the slip ring 1 is arranged in the rotating shaft 2, one end of the slip ring 1 penetrates through and extends out of the fixed chassis 4, the slip ring 1 is called a rotary electric interface, and the slip ring 1 is composed of a stator part and a rotor part and can be used for data transmission of power supply, signals and the like between the fixed part and the rotating part in the rotating mechanism. In the tripod head structure, the rotating shaft 2 and the tripod head support are fixed, but a camera and the like connected to the upper part of the rotating shaft rotate, and the slip ring is added to avoid the winding problem of a wire harness when the tripod head rotates.
The fixed setting of bracket component 9 is on gyration chassis, bracket component 9 is including the support I18 that is used for supporting infrared imaging appearance 10, the support II 19 that is used for supporting high definition camera 11 and the support III 20 that is used for supporting drive assembly, install infrared imaging appearance 10 on the support I18, support II 19 sets up on support I18, install high definition camera 11 on the support II 19.
The driving assembly comprises a motor 12 and a speed reducer 13, the motor 12 and the speed reducer 13 are mounted on a support III, the driving belt wheel is located in the support III, an output shaft of the motor is connected with the speed reducer, an output shaft of the speed reducer is connected with the driving belt wheel, and when the motor rotates, a rotating shaft is fixed, so that the motor drives the rotating chassis to revolve around the rotating shaft while the motor rotates.
In this embodiment, the driven pulley 6 and the rotating shaft 2 are connected by a flat key 17, so that the rotating shaft and the driven pulley can rotate synchronously.
In this embodiment, the lock nut 8 is mounted on the upper end of the driven pulley 6, so as to prevent the axial movement of the driven pulley.
In this embodiment, the mounting size and the manner of the bracket assembly 9 are the same as those of the swivel chassis 3, but different mounting sizes can be designed according to different high-definition cameras and infrared imagers.
In this embodiment, the rotary chassis 3 is connected with the upper end and the lower end of the rotary shaft 2 through the two deep groove ball bearings 5, and the two deep groove ball bearings 5 can not only effectively ensure the verticality of the rotary shaft, but also bear the radial load of the rotary shaft, and ensure the stability of the rotary shaft in the motion process.
In this embodiment, the transmission among the motor, the speed reducer and the rotating shaft adopts a structure form of a toothed synchronous belt, so that the transmission is stable and efficient, the transmission ratio is accurate, and the rotating precision can be improved.
The gyration cloud platform mechanism that this embodiment provided still includes photoelectric switch 15, photoelectric switch installs on support I, photoelectric switch separation blade 16 is installed on gyration axle 2, and the during operation, the signal is all started once every rotatory week of photoelectric switch, can eliminate gyration accumulative error through the parameter of comparing the rotatory parameter of motor reducer and photoelectric switch's parameter, effectively guarantees the gyration precision.
The size of gyration cloud platform mechanism that this embodiment provided can carry out the collaborative design and carry out the universalization design according to the size and the size of high definition camera, infrared imager according to the size of patrolling and examining the robot.
In this embodiment, the mounting hole of the bracket iii 14 is a long circular hole, which can tension the synchronous belt drive, thereby ensuring the drive stability.
As shown in fig. 1, the utility model provides a when gyration cloud platform mechanism uses, at first the motor drives speed reducer and driving pulley 14 rotation, driving pulley passes through hold-in range 7 and drives driven pulley 6 rotation, adopt the key-type connection between driven pulley 6 and revolving axle 2, because revolving axle 2 is immobile, so driven pulley 6 is also fixed, driving pulley 14 passes through support 20 and links to each other with gyration chassis 3 in addition, consequently driving pulley 14 is in the gyration, it is rotatory around gyration axle 2 to drive gyration chassis 3, thereby realize infrared imager 10 and high definition camera 11's rotation.
Example two
The embodiment provides an inspection robot, and the inspection robot comprises a robot body and a rotary holder mechanism arranged on the robot body.
For a specific structure of the rotating pan/tilt mechanism of this embodiment, please refer to the related description of the previous embodiment, which is not described herein.
Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.
Claims (9)
1. A rotary pan-tilt mechanism is characterized by comprising a fixed chassis, a rotary chassis positioned on the fixed chassis, a rotary shaft assembly, a driving assembly arranged on the rotary chassis and used for driving the rotary shaft assembly, a support assembly arranged on the rotary chassis, and a high-definition camera and an infrared imager which are arranged on the support assembly;
the rotary shaft assembly comprises a rotary shaft, a driving belt wheel and a driven belt wheel, one end of the rotary shaft penetrates through a center hole of the rotary chassis to be connected with the fixed chassis, the driven belt wheel is installed at the other end of the rotary shaft, the driving belt wheel is fixedly arranged on the rotary chassis, and synchronization is connected between the driving belt wheel and the driven belt wheel.
2. The rotary pan and tilt head mechanism of claim 1, wherein the rotary chassis is coupled to the rotary shaft by two deep groove ball bearings.
3. The rotary pan head mechanism of claim 1, wherein the rotary shaft assembly further comprises a slip ring disposed within the rotary shaft, and wherein an end of the slip ring extends through and out of the stationary base plate.
4. The rotary pan-tilt head mechanism according to claim 1, wherein the support assembly comprises a support I for supporting the infrared imager, a support II for supporting the high definition camera, and a support III for supporting the driving assembly, the infrared imager is mounted on the support I, the support II is arranged on the support I, and the high definition camera is mounted on the support II.
5. The rotary pan and tilt head mechanism according to claim 1, wherein the driving assembly comprises a motor and a reducer mounted on the support iii, an output shaft of the motor is connected with the reducer, and an output shaft of the reducer is connected with the driving pulley.
6. The rotary pan and tilt head mechanism of claim 1, wherein the driven pulley is connected to the rotary shaft by a flat key.
7. The rotary pan and tilt head mechanism of claim 1, wherein a locking nut is mounted on an upper end of the driven pulley.
8. The rotary pan/tilt head mechanism according to claim 1, further comprising a photoelectric switch and a photoelectric switch shutter, wherein the photoelectric switch is mounted on the stand i, and the photoelectric switch shutter is mounted on the rotary shaft.
9. An inspection robot, characterized by comprising a robot body and a rotary pan-tilt mechanism according to any one of claims 1 to 8 arranged on the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921468956.9U CN210344843U (en) | 2019-09-04 | 2019-09-04 | Rotary cloud platform mechanism and inspection robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921468956.9U CN210344843U (en) | 2019-09-04 | 2019-09-04 | Rotary cloud platform mechanism and inspection robot with same |
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| Publication Number | Publication Date |
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| CN210344843U true CN210344843U (en) | 2020-04-17 |
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| CN201921468956.9U Active CN210344843U (en) | 2019-09-04 | 2019-09-04 | Rotary cloud platform mechanism and inspection robot with same |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112936348A (en) * | 2021-03-04 | 2021-06-11 | 哈尔滨工业大学 | Sensor integration device for sensing RGB-D-T information of intelligent robot |
-
2019
- 2019-09-04 CN CN201921468956.9U patent/CN210344843U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112936348A (en) * | 2021-03-04 | 2021-06-11 | 哈尔滨工业大学 | Sensor integration device for sensing RGB-D-T information of intelligent robot |
| CN112936348B (en) * | 2021-03-04 | 2022-11-18 | 哈尔滨工业大学 | Sensor integration device for sensing RGB-D-T information of intelligent robot |
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